CN109194239B - Speed regulation method and system of speed regulation system of switched reluctance motor - Google Patents
Speed regulation method and system of speed regulation system of switched reluctance motor Download PDFInfo
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- CN109194239B CN109194239B CN201710503052.4A CN201710503052A CN109194239B CN 109194239 B CN109194239 B CN 109194239B CN 201710503052 A CN201710503052 A CN 201710503052A CN 109194239 B CN109194239 B CN 109194239B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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Abstract
The invention relates to a speed regulating method and a speed regulating system of a switched reluctance motor speed regulating system, which relate to the field of speed regulation of switched reluctance motors and mainly aim to improve the instantaneous control capability of current, improve the unbalance of motor phase current, realize stable current control and reduce noise. The switched reluctance motor speed regulating system comprises a current chopping control circuit; the current chopping control circuit comprises an analog signal comparison unit, a time delay unit and a logic control unit. The performance requirements of the processor, such as high-speed operation, high-speed A/D conversion capability and the like, are reduced by a control mode of combining the processor and the current chopping control circuit, and the control cost is reduced by adopting a Digital Signal Processor (DSP) or a single chip microcomputer with lower performance to realize control; meanwhile, the current chopping control circuit has good instantaneous current control capability, and combines a sensor correction algorithm and a current control algorithm to realize the stable control of the current of the switched reluctance motor, improve the unbalance of the phase current of the motor, reduce the noise of the motor and improve the reliability of the controller.
Description
Technical Field
The invention relates to the field of speed regulation of a switched reluctance motor, in particular to a speed regulation method and system of a speed regulation system of the switched reluctance motor.
Background
In recent years, an integrated circuit for a motor based on a digital signal processor (dsp) has been developed rapidly, and the integrated circuit has better performance than a single chip microcomputer in terms of calculation speed, capacity storage, and the like, and has gradually replaced the single chip microcomputer to be applied to a motor control system.
As shown in fig. 1, the current speed regulating system of the switched reluctance motor mainly comprises a digital signal processor DSP, a driving circuit, a power circuit, a current sensor, and a position sensor, and the working principle is as follows: the digital signal processor DSP collects the winding current and the rotor position of the switched reluctance motor, and according to the winding current and the rotor position, a control signal generated by the digital signal processor DSP, a PWM port and a multifunctional I/O port of the digital signal processor DSP are applied to a motor winding through a driving circuit and a power circuit, so that the current and the rotating speed of the motor are controlled in a closed loop mode.
The general working of a digital signal processor DSP is: the switched reluctance motor can be selected to be in a torque or rotating speed control mode according to the requirements of users, and the control modes such as current chopping, voltage chopping (PWM), angle control and the like can be automatically selected according to the different rotating speeds of the switched reluctance motor, so that the optimal control of the switched reluctance motor is realized.
The current chopping is generally realized by adopting periodic program interruption to detect the winding current and controlling a power switch according to comparison logic with a given current value so as to realize current instantaneous control; because the current chopping control is realized by adopting software, only the instantaneous current of the motor can be periodically checked, and the real-time control of the current cannot be realized, namely the stable control of the current cannot be realized when the current of the motor changes violently, so that the noise of the motor is high. As shown in fig. 2, a phase diagram of a speed regulating system of a switched reluctance motor is a zero-voltage freewheeling current control mode based on a fixed turn-off period T (or multiple of T), as shown in fig. 3, it can be seen that the upper limit of the current cannot be smoothly controlled at a given phase current ICMDThe control effect depends on the interrupt interval time of the DSP current detection timer, the effect is better when the interrupt interval time is shorter, but the shorter the interrupt interval time is, the higher the data processing performance of the DSP is required, meanwhile, the shorter the interrupt interval time is, the higher the utilization rate of the DSP occupied by the DSP is increased, and other program functions can not run normally.
Disclosure of Invention
In view of this, the present invention provides a speed regulating method and system for a speed regulating system of a switched reluctance motor, and mainly aims to realize stable control of current under the condition of ensuring stable operation of a processor.
In order to achieve the purpose, the invention mainly provides the following technical scheme:
in one aspect, an embodiment of the present invention provides a speed regulating system for a switched reluctance motor, including:
the device comprises a processor, a driving circuit, a power circuit, a current sensor, a position sensor and a current chopping control circuit;
the processor is connected with the position sensor, acquires a position signal of the switched reluctance motor, and calculates and outputs a motor phase winding conduction control signal according to input given instruction information and the position information of the switched reluctance motor;
the current chopping control circuit comprises an analog signal comparison unit, a time delay unit and a logic control unit;
the analog signal comparison unit is connected with the current sensor, acquires a first analog signal detection current signal of the switched reluctance motor, and compares the first analog signal detection current signal with a given second analog signal current given signal converted according to input given instruction information to generate a first logic control signal;
the delay unit controls the turn-off time of the first logic control signal;
the logic control unit is connected with the processor, acquires the motor phase winding conduction control signal, performs logic operation on the motor phase winding conduction control signal and the first logic control signal, and generates a driving signal which is sent to the driving circuit.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
Optionally, in the speed regulating system of the switched reluctance motor, the current chopping control circuit includes a D/a conversion circuit unit;
the D/A conversion circuit unit is connected with an I/O interface of the processor, the I/O interface of the processor outputs a digital signal current given signal, and the second analog signal current given signal is generated by converting the digital signal current given signal through the D/A conversion circuit unit.
Optionally, in the speed regulating system of the switched reluctance motor, the delay unit and the logic control unit are implemented by a programmable logic device.
Optionally, the speed regulating system of the switched reluctance motor stores a speed regulating program, and the speed regulating program executes the following steps:
in the voltage chopping mode or the angle control mode: and at the first rotating speed, performing closed-loop operation by adopting a phase average current i to output a motor phase winding conduction control signal, wherein the phase average current i is the phase average current corresponding to the torque at the first rotating speed.
Optionally, the speed regulating system of the switched reluctance motor stores a speed regulating program, and the speed regulating program executes the following steps:
in the current chopping control mode: at a first speed of rotation, a given phase current IcmdThe phase average current i is the phase average current obtained for the torque at the first speed, and θ is the electrical angle of the switched reluctance motor.
Optionally, in the speed control system of the switched reluctance motor, a speed control program is stored, the phase number of the switched reluctance motor is k, an electrical angle period of a phase position sensor signal of the switched reluctance motor is 360 degrees, the 360-degree electrical angle is divided into M counting positions, a current electrical angle is represented by a counting position value, a timer detection period is T, and the speed control program executes the following steps:
a correction step: acquiring a capture period t of the nth edge in an electrical angle period at a constant speednAnd converted into an angle value thetanRegister unit for storage correction
n is a positive integer less than or equal to 2 k;
the operation steps are as follows: delaying the transmission of the photoelectric switch/Hall switch signal by a time t according to the measured average electrical angle perioddelayConverting into angle value, and correcting the correction register
With correction register storing thetanzThe angle value is used as a reference to convert the on-off angle into the timing time of the timer, and the timer controls phase output according to the timing time.
In another aspect, an embodiment of the present invention provides a speed control method for a speed control system of a switched reluctance motor, including
The processor calculates and outputs a motor phase winding conduction control signal according to input given instruction information and rotor position information of the switched reluctance motor;
the current chopping control circuit acquires a first analog signal detection current signal of the switched reluctance motor, and compares the first analog signal detection current signal with a given second analog signal current given signal converted according to input given instruction information to generate a first logic control signal;
the current chopping control circuit acquires a motor phase winding conduction control signal of the processor, and performs logical AND operation on the motor phase winding conduction control signal and the first logical control signal to generate a driving signal sent to the driving circuit.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
Optionally, in the speed regulating method of the speed regulating system of the switched reluctance motor, the current setting signal of the second analog signal is: the processor D/A converts the output analog signal according to the input given instruction.
Optionally, in the speed regulating method of the speed regulating system of the switched reluctance motor, the current setting signal of the second analog signal is: the current chopping control circuit is used for giving a digital signal current output by an I/O interface of the processor and an analog signal output by D/A conversion.
Optionally, in the speed regulating method of the speed regulating system of the switched reluctance motor, the processor calculates and outputs the motor phase winding conduction control signal according to the input given instruction information and the rotor position information of the switched reluctance motor, and specifically includes:
in the voltage chopping mode or the angle control mode: and at the first rotating speed, performing closed-loop operation by adopting a phase average current i to output a motor phase winding conduction control signal, wherein the phase average current i is the phase average current corresponding to the torque at the first rotating speed.
Optionally, in the speed control method of the speed control system of the switched reluctance motor, in the current chopping control mode: at a first speed of rotation, a given phase current IcmdI f (i, θ), the phase average current i is the phase average current corresponding to the torque at the first speed, and θ is the switched reluctance motorElectrical angle of (d).
Optionally, in the speed adjusting method of the speed adjusting system of the switched reluctance motor, the phase number of the switched reluctance motor is k, one electrical angle period of a phase position sensor signal of the switched reluctance motor is 360 degrees, the 360-degree electrical angle is divided into M counting positions, the current electrical angle is represented by a counting position value, and the detection period of the timer is T;
the processor calculates and outputs a motor phase winding conduction control signal according to input given instruction information and rotor position information of the switched reluctance motor, and specifically comprises the following steps:
a correction step: acquiring a capture period t of the nth edge in an electrical angle period at a constant speednAnd converted into an angle value thetanRegister unit for storage correction
n is a positive integer less than or equal to 2 k;
the operation steps are as follows: delaying the transmission of the photoelectric switch/Hall switch signal by a time t according to the measured average electrical angle perioddelayConverting into angle value, and correcting the correction register
With correction register storing thetanzThe angle value is used as a reference to convert the on-off angle into the timing time of the timer, and the timer controls phase output according to the timing time.
By the technical scheme, the speed regulating method and the system of the switched reluctance motor speed regulating system provided by the technical scheme of the invention at least have the following advantages:
in the technical scheme provided by the embodiment of the invention, an analog signal comparison unit of a current chopping control circuit is connected with a current sensor, a first analog signal detection current signal of a switched reluctance motor is obtained, and the first analog signal detection current signal is compared with a given second analog signal current given signal converted according to input given instruction information to generate a first logic control signal; the analog signal comparison unit can set one or more comparison thresholds for one phase current so as to realize upper limit control, lower limit control, zero-voltage follow current, reverse-voltage follow current and the like of the motor winding current; the time delay unit of the current chopping control circuit controls the turn-off time of the first logic control signal; the performance requirements (high-speed operation, high-speed A/D conversion capability and the like) of a processor (MCU) are reduced by using a control mode of combining the processor and a current chopping control circuit, and the control can be realized by adopting a Digital Signal Processor (DSP) or a single chip microcomputer with lower performance, so that the control cost is reduced; meanwhile, the current chopping control circuit has good instantaneous current control capability, can realize stable current control and reduce electromagnetic noise.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of a speed regulating system of a switched reluctance motor in the prior art;
fig. 2 is a schematic diagram of a partial circuit structure of a switched reluctance motor in the prior art;
fig. 3 is a schematic diagram of zero-voltage follow current control of a fixed turn-off period T of a speed regulating system of a switched reluctance motor in the prior art;
fig. 4 is a schematic structural diagram of a speed regulating system of a switched reluctance motor according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a current chopping control circuit of a speed regulating system of a switched reluctance motor according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a current chopping control circuit of a specific speed regulating system of a switched reluctance motor according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a current chopping control circuit of another specific switched reluctance motor speed regulation system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of another specific speed regulating system of a switched reluctance motor according to an embodiment of the present invention;
fig. 9 is a schematic flow chart of a speed regulating method for a switched reluctance motor according to an embodiment of the present invention;
fig. 10 is a schematic diagram illustrating the improved transient current control of a speed regulating method for a switched reluctance motor according to an embodiment of the present invention;
fig. 11 is a schematic diagram illustrating the effect of upper and lower limit control of current chopping in a method for adjusting the speed of a switched reluctance motor according to an embodiment of the present invention;
fig. 12 is a schematic diagram of table lookup operation of a method for adjusting the speed of a switched reluctance motor according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of an ideal signal waveform of an ideal switched reluctance motor speed control system when the code wheel angle of a photoelectric sensor is accurately processed;
FIG. 14 is a schematic diagram illustrating an effect of current imbalance caused by sensor signal errors after an error exists in processing of a code wheel angle of a photoelectric sensor in a switched reluctance motor speed regulation method in the prior art;
FIG. 15 is a schematic diagram of angle registration in a method for regulating speed of a switched reluctance motor according to an embodiment of the present invention;
FIG. 16 is a schematic diagram illustrating an effect of a switched reluctance motor speed adjusting method according to an embodiment of the present invention after an error occurs in processing an angle of a code wheel of a photosensor;
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description will be made on the speed regulating method and system of the switched reluctance motor speed regulating system according to the present invention, and the specific implementation, structure, features and effects thereof, with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "an embodiment" refers to not necessarily the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
As shown in fig. 4, an embodiment of the present invention provides a speed control system of a switched reluctance motor, including: a processor 10, a drive circuit 20, a power circuit 30, a current sensor 40, a position sensor 50, a current chopping control circuit 60, and a switched reluctance motor 70; specifically, the processor 10 may be a digital signal processor DPS or a single chip microcomputer; the position sensor 50 is used for measuring a rotor position signal of the switched reluctance motor 70; the current sensor 40 is configured to measure a first analog signal of the switched reluctance motor 70 to detect a current signal; the processor 10 is connected to the position sensor 50, obtains a rotor position signal of the switched reluctance motor 70, and calculates and outputs a motor phase winding conduction control signal according to input given instruction information of a user interface and rotor position information of the switched reluctance motor. The motor phase winding conduction control signal can be an angle control signal or a voltage chopping control signal and is output through a PWM (pulse-width modulation) port of a processor (multifunctional I/O, the processor generally has a PWM function and can be selected).
As shown in fig. 5, the current chopping control circuit includes an analog signal comparing unit 61, a delay unit 62, and a logic control unit 63; the analog signal comparison unit 61 is connected with the current sensor 40, acquires a first analog signal detection current signal of the switched reluctance motor, and compares the first analog signal detection current signal with a given second analog signal current given signal converted according to input given instruction information to generate a first logic control signal; the analog signal comparison unit 61 may set at least 1 comparison threshold for one phase current so as to implement upper limit control, lower limit control, zero voltage follow current, reverse voltage follow current, and the like of the switched reluctance motor winding current; the delay unit controls the turn-off time of the first logic control signal; the logic control unit 63 is connected to the processor, and is configured to acquire the motor phase winding conduction control signal, perform logic operation on the motor phase winding conduction control signal and the first logic control signal, and generate a driving signal to be sent to the driving circuit 20; the power circuit is respectively connected with the driving circuit and the switched reluctance motor.
In the technical scheme provided by the embodiment of the invention, an analog signal comparison unit of a current chopping control circuit is connected with a current sensor, a first analog signal detection current signal of a switched reluctance motor is obtained, and the first analog signal detection current signal is compared with a given second analog signal current given signal converted according to input given instruction information to generate a first logic control signal; the time delay unit of the current chopping control circuit controls the turn-off time of the first logic control signal; the performance requirements (high-speed operation, high-speed A/D conversion capability and the like) of a processor (MCU) are reduced by using a control mode of combining the processor and a current chopping control circuit, and the control can be realized by adopting a Digital Signal Processor (DSP) or a single chip microcomputer with lower performance, so that the control cost is reduced; meanwhile, the current chopping control circuit has good instantaneous current control capability, can realize stable current control and reduce electromagnetic noise.
The second analog signal current given signal may in particular be generated by direct processing by a digital signal processor with a D/a conversion output interface. If the processor itself does not have the function of D/a conversion output, as shown in fig. 6, the current chopping control circuit includes a D/a conversion circuit unit 64; the D/a conversion circuit unit 64 is connected to an I/O interface of the processor, the I/O interface of the processor outputs a digital signal current setting signal, and the second analog signal current setting signal is generated by converting the digital signal current setting signal by the D/a conversion circuit unit.
Specifically, in an embodiment of the present invention, the D/a conversion circuit unit employs a D/a conversion circuit, the analog signal comparison unit employs an analog signal comparison circuit, the delay unit employs a delay circuit, and the logic control unit employs a logic gate circuit; the D/A conversion circuit, the analog signal comparison circuit, the delay circuit and the logic gate circuit are connected in sequence. In another embodiment of the present invention, as shown in fig. 7 and fig. 8, the second analog signal current given signal can be generated by directly processing a digital signal processor with a D/a conversion output interface, the analog signal comparing unit 61 uses an analog signal comparing circuit, the current sensor 40 is connected to the analog signal comparing unit 61, and the delay unit and the logic control unit are implemented by using a programmable logic device 65; the processor D/A conversion output interface, the analog signal comparison circuit and the programmable logic device are connected in sequence.
The speed regulating system of the switched reluctance motor stores a speed regulating program, and the speed regulating program executes the following steps:
in the voltage chopping mode or the angle control mode: and at the first rotating speed, performing closed-loop operation by adopting a phase average current i to output a motor phase winding conduction control signal, wherein the phase average current i is the phase average current corresponding to the torque at the first rotating speed.
The speed regulating system of the switched reluctance motor stores a speed regulating program, and the speed regulating program executes the following steps:
in the current chopping control mode: at a first speed of rotation, a given phase current IcmdThe phase average current i is the phase average current obtained for the torque at the first speed, and θ is the electrical angle of the switched reluctance motor.
The speed regulating system of the switched reluctance motor stores a speed regulating program, the phase number of the switched reluctance motor is k, one electric angle period of a signal of a phase position sensor of the switched reluctance motor is 360 degrees, the 360-degree electric angle is divided into M counting positions, the counting position value is adopted to represent the current electric angle, the detection period of a timer is T, and the speed regulating program executes the following steps:
a correction step: acquiring a capture period t of the nth edge in an electrical angle period at a constant speednAnd converted into an angle value thetanRegister unit for storage correction
n is a positive integer less than or equal to 2 k;
the operation steps are as follows: delaying the transmission of the photoelectric switch/Hall switch signal by a time t according to the measured average electrical angle perioddelayConverting into angle value, and correcting the correction register
With correction register storing thetanzThe angle value is used as a reference to convert the on-off angle into the timing time of the timer, and the timer controls phase output according to the timing time.
Example two
The speed regulating method of the speed regulating system of the switched reluctance motor according to the second embodiment of the present invention may adopt the speed regulating system of the switched reluctance motor according to the first embodiment, as shown in fig. 9, specifically, the switched reluctance motor may be selected to be in a torque control mode or a rotational speed control mode according to a user's request, and the speed regulating system of the switched reluctance motor may automatically adjust and select one of a current chopping mode, a voltage chopping mode, and an angle control mode according to a rotational speed value of the switched reluctance motor. The rotation speed PI calculation and the current P I calculation realize closed-loop control of the rotation speed and the current.
The speed regulation method comprises the following steps:
the processor calculates and outputs a motor phase winding conduction control signal according to input given instruction information and rotor position information of the switched reluctance motor;
the input given instruction information can be the information of the speed regulation strategy of the switched reluctance motor speed regulation system input or selected by a user;
the current chopping control circuit acquires a first analog signal detection current signal of the switched reluctance motor, and compares the first analog signal detection current signal with a given second analog signal current given signal converted according to input given instruction information to generate a first logic control signal;
a first analog signal detection current signal of the switched reluctance motor can be measured by a current sensor in real time and is sent to a current chopping control circuit; the second analog signal current setting signal may be: the processor D/A converts the output analog signal according to the input given instruction. In addition, the second analog signal current setting signal may also be: the current chopping control circuit is used for giving a digital signal current output by an I/O interface of the processor and an analog signal output by D/A conversion. The digital signal current given signal output by the I/O interface of the processor is calculated and output by the processor according to the input given instruction information.
The current chopping control circuit acquires a motor phase winding conduction control signal of the processor, and performs logical AND operation on the motor phase winding conduction control signal and the first logical control signal to generate a driving signal sent to the driving circuit.
In the technical scheme provided by the embodiment of the invention, the performance requirements (high-speed operation, high-speed A/D conversion capability and the like) of a processor (MCU) are reduced by using a control mode of combining the processor and a current chopping control circuit, and a DSP (digital signal processor) or a singlechip with lower performance can be adopted to realize control, so that the control cost is reduced;
meanwhile, as shown in fig. 10, compared with the prior art, the control of the instantaneous current is improved, and the excessive instantaneous current is reduced, as shown in fig. 11, compared with the prior art, the control of the upper limit and the lower limit of the current chopping is stable, the instantaneous current control capability of the current chopping control circuit is good, the stable current control can be realized, and the electromagnetic noise is reduced.
As shown in fig. 9, due to the nonlinear characteristic of the switched reluctance motor, a torque current operation module is provided, and the phase average current corresponding to the torque is obtained through table lookup and linear interpolation calculation at different rotation speeds, and the phase average current i is obtained at the first rotation speed.
In the current chopping control mode: at a first speed of rotation, a given phase current IcmdAnd the phase average current i is the phase average current corresponding to the torque at the first rotating speed, and theta is the electrical angle of the switched reluctance motor, and the open-loop control of the torque of each phase of the switched reluctance motor is realized through Icmd.
Due to the non-linear nature of switched reluctance machines, where torque is a non-linear function of winding current and rotation angle, the torque achieved will not be smooth if i is constantly used as the phase current for a given electrical angle period. The invention provides a method for establishing real-time operation of phase average current and phase given current by adopting a table look-up mode. Phase set current IcmdI f (i, theta), theta is an electrical angle, namely, the phase average current is weighted by a look-up table of the phase average current i and the electrical angle to obtain a given phase current, and the winding current is adjusted in real time in one electrical angle periodAnd controlling to obtain stable torque output. As shown in fig. 12, the f (i, θ) continuous value can be obtained by piecewise function fitting or table lookup and linear interpolation, and the table can be conveniently obtained off-line through control simulation of the motor. The function value of f (i, θ) may be greater than zero and less than or equal to 2, and as the angle value of θ increases, the function value decreases, increases or does not change, and the function value may be obtained offline according to the control simulation of the motor or may be set manually, where the function value in the table in fig. 12 is not a value of all embodiments, and is a value of one embodiment. The function value can be adjusted correspondingly for different switch reluctance motors.
In the voltage chopping mode or the angle control mode: and at the first rotating speed, performing closed-loop operation by adopting a phase average current i to output a motor phase winding conduction control signal, wherein the phase average current i is the phase average current corresponding to the torque at the first rotating speed, and the closed-loop control is realized through the phase average current i.
The existing speed regulation control mode of the switched reluctance motor directly outputs edge signals of a position sensor as a reference control phase, and angle values corresponding to the edge signals are fixed values.
The detection of the rotor position of the switched reluctance motor depends on the processing precision of a code disc of a photoelectric sensor, when the processing precision of the code disc is not high, an angle error occurs, the precision of speed calculation and motor angle control can be influenced, and meanwhile, inaccurate influence is caused on position detection by transmission delay of signals of the photoelectric sensor during high-speed operation. When the switched reluctance motor is controlled, the phase current of each phase is unbalanced, the vibration and the noise of the motor are large, and a power device of the controller is easy to damage. Taking a three-phase switched reluctance motor as an example, the sensor is 3 photoelectric or Hall switches, and each electric angle period of 360 degrees is divided into 6 different sections by the rising and falling edges of the coded disc. Assuming that in the processor software, 360 degrees of electrical angle is subdivided into 2048 counting positions, 6 intervals can be divided into 0 to 341, 342 to 682, 683 to 1023, 1024 to 1365, 1366 to 1706, 1707 to 2047, as shown in fig. 13 for an ideal sensor waveform. A common digital signal processor DSP tracks the position of a rotor and calculates the rotating speed of a motor through a CAP (edge capture timing) function, the signal edge of a sensor is taken as a reference, phase output is controlled, and when a sensor code disc has processing errors, the detected position of the rotor is not consistent with the actual position of the rotor, so that the phenomenon of three-phase current imbalance occurs. Assuming (there is an on-off position shift angle in actual control) the angle control phase output at high level of the sensor, the current waveform is as shown in fig. 14.
Specifically, in an embodiment of the present invention, the phase number of the switched reluctance motor is k, one electrical angle period of a phase position sensor signal of the switched reluctance motor is 360 degrees, the 360-degree electrical angle is divided into M counting positions, the counting position value is used to indicate the electrical angle of the rotor, and the detection period of the timer is T;
the processor calculates and outputs a motor phase winding conduction control signal according to input given instruction information and rotor position information of the switched reluctance motor, and specifically comprises the following steps:
a correction step: acquiring a capture period t of the nth edge in an electrical angle period at a constant speednAnd converted into angle value theta n and stored in correction register unit
n is a positive integer less than or equal to 2 k;
wherein the correction step only needs to be performed once; specifically, as shown in fig. 15, the switched reluctance motor is a 3-phase switched reluctance motor, and n takes values of 1, 2, 3, 4, 5, and 6. Then, θ 1, θ 2, θ 3, θ 4, θ 5, and θ 6 are stored in the correction register units, respectively.
The operation steps are as follows: delaying the transmission of the photoelectric switch/Hall switch signal by a time t according to the measured average electrical angle perioddelayConverting into angle value, and correcting the correction register
With correction register storing thetanzThe angle value is used as a reference to convert the on-off angle into the timing time of the timer, and the timer controls phase output according to the timing time. In particular, the photoelectric switch can be switched on and off with an average electrical angle period measured by a first timerHall switch signal transmission delay time tdelayThen, t is further determineddelayConverting into angle value pair, correcting and registering angle value theta stored in unitnMaking a correction to correct the register-corrected stored thetanzThe angle value is used as a reference to convert the on-off angle into the timing time of a second timer, and the second timer controls phase output according to the timing time. Wherein the transmission is delayed by a time tdelayThe specific numerical value can be inquired according to a data manual or an instruction book of a device used by the position sensor or can be automatically tested, and the corresponding t of the position sensor can be obtaineddelayNumerical values.
The embodiment of the invention stores the corrected edge angle value of the sensor into the correction register unit by arranging the correction register unit, controls phase output by taking the value as a reference, can effectively improve the processing precision of the position sensor and the detection error caused by signal transmission delay of the position sensor, and improves the control performance. As shown in fig. 16, the control current waveform is improved with the correction register unit as a reference angle.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the devices described above may be referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed apparatus should not be construed to reflect the intent as follows: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the components of the apparatus of the embodiments may be adapted and arranged in one or more arrangements different from the embodiments. The components of the embodiments may be combined into one component and, in addition, they may be divided into a plurality of sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the components of any apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination. The various component embodiments of the present invention may be implemented in hardware, or in a combination thereof.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or components not listed in a claim. The word "a" or "an" preceding a component or element does not exclude the presence of a plurality of such components or elements. The invention may be implemented by means of an apparatus comprising several distinct elements. In the claims enumerating several means, several of these means may be embodied by one and the same item. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are still within the scope of the technical solution of the present invention.
Claims (8)
1. A switched reluctance machine speed control system, comprising:
the device comprises a processor, a driving circuit, a power circuit, a current sensor, a position sensor and a current chopping control circuit;
the processor is connected with the position sensor, acquires a rotor position signal of the switched reluctance motor, and calculates and outputs a motor phase winding conduction control signal according to input given instruction information and the rotor position information of the switched reluctance motor;
the current chopping control circuit comprises an analog signal comparison unit, a time delay unit and a logic control unit;
the analog signal comparison unit is connected with the current sensor, acquires a first analog signal detection current signal of the switched reluctance motor, and compares the first analog signal detection current signal with a given second analog signal current given signal converted according to input given instruction information to generate a first logic control signal;
the delay unit controls the turn-off time of the first logic control signal;
the logic control unit is connected with the processor, acquires the motor phase winding conduction control signal, performs logic operation on the motor phase winding conduction control signal and the first logic control signal, and generates a driving signal sent to the driving circuit;
a speed regulation program is stored, the speed regulation program executing the steps of:
in the current chopping control mode: at a first speed of rotation, a given phase current IcmdAnd the phase average current i is the phase average current corresponding to the torque at the first rotating speed, theta is the electrical angle of the switched reluctance motor, and the continuous value of f (i, theta) is obtained by means of piecewise function fitting or table lookup and linear interpolation.
2. The switched reluctance machine speed adjustment system of claim 1,
the current chopping control circuit comprises a D/A conversion circuit unit;
the D/A conversion circuit unit is connected with an I/O interface of the processor, the I/O interface of the processor outputs a digital signal current given signal, and the second analog signal current given signal is generated by converting the digital signal current given signal through the D/A conversion circuit unit.
3. The switched reluctance motor speed control system of claim 1 wherein a speed control program is stored, the speed control program performing the steps of:
in the voltage chopping mode or the angle control mode: and at the first rotating speed, performing closed-loop operation by adopting a phase average current i to output a motor phase winding conduction control signal, wherein the phase average current i is the phase average current corresponding to the torque at the first rotating speed.
4. The switched reluctance motor speed control system according to claim 1, wherein a speed control program is stored, the number of phases of the switched reluctance motor is k, one electrical angle period of a phase position sensor signal of the switched reluctance motor is 360 degrees, the 360 degrees electrical angle is divided into M counting positions, the counting position value is used to indicate the electrical angle of the rotor, the timer detection period is T, the speed control program performs the steps of:
a correction step: acquiring a capture period t of the nth edge in an electrical angle period at a constant speednAnd converted into an angle value thetanRegister unit for storage correction
n is a positive integer less than or equal to 2 k;
the operation steps are as follows: delaying the transmission of the photoelectric switch/Hall switch signal by a time t according to the measured average electrical angle perioddelayConverting into angle value, and correcting the correction register
With correction register storing thetanzThe angle value is used as a reference to convert the on-off angle into the timing time of the timer, and the timer controls phase output according to the timing time.
5. A speed regulation method of a speed regulation system of a switched reluctance motor is characterized by comprising the following steps:
the processor calculates and outputs a motor phase winding conduction control signal according to input given instruction information and rotor position information of the switched reluctance motor;
the current chopping control circuit acquires a first analog signal detection current signal of the switched reluctance motor, and compares the first analog signal detection current signal with a given second analog signal current given signal converted according to input given instruction information to generate a first logic control signal;
the current chopping control circuit acquires a motor phase winding conduction control signal of the processor, and performs logical AND operation on the motor phase winding conduction control signal and the first logical control signal to generate a driving signal sent to the driving circuit;
in the current chopping control mode: at a first speed of rotation, a given phase current IcmdI f (i, theta), the phase average current i being the phase average current determined for the torque at the first speedAnd the continuous value of f (i, theta) is obtained by the operation of piecewise function fitting or table look-up and linear interpolation.
6. The speed regulating method of the speed regulating system of the switched reluctance motor according to claim 5,
the second analog signal current setting signal is: the current chopping control circuit is used for giving a digital signal current output by an I/O interface of the processor and an analog signal output by D/A conversion.
7. The speed regulating method of the speed regulating system of the switched reluctance motor according to claim 5,
the processor calculates and outputs a motor phase winding conduction control signal according to input given instruction information and rotor position information of the switched reluctance motor, and specifically comprises the following steps:
in the voltage chopping mode or the angle control mode: and at the first rotating speed, performing closed-loop operation by adopting a phase average current i to output a motor phase winding conduction control signal, wherein the phase average current i is the phase average current corresponding to the torque at the first rotating speed.
8. The speed regulating method of the speed regulating system of the switched reluctance motor according to claim 5,
the phase number of the switched reluctance motor is k, one electrical angle period of a phase position sensor signal of the switched reluctance motor is 360 degrees, the 360-degree electrical angle is divided into M counting positions, the current electrical angle is represented by adopting the counting position values, and the detection period of the timer is T;
the processor calculates and outputs a motor phase winding conduction control signal according to input given instruction information and rotor position information of the switched reluctance motor, and specifically comprises the following steps:
a correction step: acquiring a capture period t of the nth edge in an electrical angle period at a constant speednAnd converted into an angle value thetanRegister unit for storage correction
n is a positive integer less than or equal to 2 k;
the operation steps are as follows: delaying the transmission of the photoelectric switch/Hall switch signal by a time t according to the measured average electrical angle perioddelayConverting into angle value, and correcting the correction register
With correction register storing thetanzThe angle value is used as a reference to convert the on-off angle into the timing time of the timer, and the timer controls phase output according to the timing time.
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| CN110319186A (en) * | 2019-05-23 | 2019-10-11 | 林锋忠 | A kind of new energy pure electric automobile of the switching magnetic-resistance speed changer of oblique frame indented style |
| JP6976371B2 (en) * | 2020-03-13 | 2021-12-08 | 三菱電機株式会社 | Rotation speed detector |
| CN113922709B (en) * | 2020-07-10 | 2024-07-16 | 丁金龙 | Control method and device for switched reluctance motor |
| CN115032934B (en) * | 2022-08-12 | 2022-11-25 | 中国船舶重工集团公司第七0七研究所 | Control system and implementation method of roof support reverse leveling mechanism |
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